Robust adaptive control of nonlinear systems with unmodelled dynamics

被引：13

作者：

Liu, Y ^{[1
]}

Li, XY

机构：

[1] Sichuan Univ, Dept Automat, Chengdu 610065, Peoples R China

[2] Sichuan Univ, Dept Elect Engn, Chengdu 610065, Peoples R China

来源：

IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 2004年 / 151卷 / 01期

关键词：

D O I：

10.1049/ip-cta:20040063

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A robust adaptive output feedback controller is proposed for a class of nonlinear systems represented by input-output models. In the design of the adaptive controller, a signal is used to characterise the unmodelled dynamics and a nonlinear damping term is introduced to counteract the effects of the unmodelled dynamics and bounded disturbances. With the proposed controller, all the variables in the closed-loop system are bounded in the presence of unmodelled dynamics and bounded disturbances. Moreover, the mean-square tracking error can be made arbitrarily small by choosing appropriate design parameters.

引用

页码：83 / 88

页数：6

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